Setup Instructions

Connection Diagram

PX4 Configuration

Connect AgamGNSS0x CAN to the CAN1 or CAN2 port using the provided cable.

Enable the parameter UAVCAN_ENABLE to 2 or 3

Reboot

Once enabled, the module will be detected on boot. GPS data should arrive at 10Hz.

The AgamGNSS CAN will not boot if there is no SD card in the flight controller when powered on.

Sensor Position Configuration

If the sensor is not centered within the vehicle you will also need to define sensor offsets:

• Enable GPS yaw fusion by setting bit 3 of EKF2_GPS_CTRL to true.

• Enable UAVCAN_SUB_GPS, UAVCAN_SUB_MAG, and UAVCAN_SUB_BARO.

• Set CANNODE_TERM to 1 if this is that last node on the CAN bus.

• If AgamGNSS0x is offset from the vehicles Centre of Gravity(CoG), then the parameters EKF2_GPS_POS_X, EKF2_GPS_POS_Y and EKF2_GPS_POS_Z should be set accordingly.